CN112506231A - Automatic following baby carriage and control method thereof - Google Patents
Automatic following baby carriage and control method thereof Download PDFInfo
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- CN112506231A CN112506231A CN202011363613.3A CN202011363613A CN112506231A CN 112506231 A CN112506231 A CN 112506231A CN 202011363613 A CN202011363613 A CN 202011363613A CN 112506231 A CN112506231 A CN 112506231A
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- 238000000034 method Methods 0.000 title claims description 13
- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 239000000725 suspension Substances 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 description 12
- 230000004888 barrier function Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B9/00—Accessories or details specially adapted for children's carriages or perambulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses an automatic following baby carriage which is provided with a frame, wherein the bottom of the frame is provided with a front wheel and a rear wheel, a baby bed is fixed on the frame, a power assembly for driving the rear wheel to rotate is fixed on the frame, a steering assembly for driving the front wheel to steer is fixed on the frame, brake assemblies for parking the baby carriage are fixed on the front wheel and the rear wheel, the brake assemblies, the steering assembly and the brake assemblies are all connected with a controller, the controller is connected with a following sensor, the following sensor and following carrying equipment mutually exchange information and determine the relative position, a battery unit is fixed on the frame and supplies power for all components.
Description
Technical Field
The invention relates to mother and infant articles, in particular to a baby carriage.
Background
With the continuous progress of science and technology, the intelligent life style will be accepted by more and more people, and the demand of consumers for intelligent products is more and more. At present, the luggage box capable of being automatically followed exists, but the baby carriage is also a manual device, and the requirement of a user on a high-tech baby carriage product cannot be met.
Disclosure of Invention
The invention aims to solve the technical problem of realizing a baby carriage with an automatic following function.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides an automatic follow perambulator, the perambulator is equipped with the frame, the frame bottom is equipped with front wheel and rear wheel, be fixed with the crib on the frame, be fixed with drive rear wheel pivoted power component on the frame, be fixed with the steering component that drives the front wheel and turn to on the frame, be fixed with the brake assembly who parks the perambulator on front wheel and the rear wheel, brake assembly, steering component and brake assembly all connect the controller, the inductor is followed in the controller connection, follow the inductor and follow the mutual information of carrying equipment and confirm the relative position, be fixed with battery unit on the frame, battery unit is all components and parts power supplies.
The baby carriage is characterized in that radar modules for sensing surrounding obstacle information and camera assemblies for acquiring surrounding image information are fixed on the periphery of the baby carriage, the radar modules and the camera assemblies are connected with a controller through signal lines, a wheel speed sensor is arranged on a rear wheel, and the wheel speed sensor is connected with the controller through the signal lines.
The baby carriage is characterized in that the frame is connected with a handrail, a loudspeaker for giving prompt tones, a display screen for displaying working condition information and a key module for controlling the baby carriage are fixed on the handrail, and the loudspeaker, the display screen and the key module are all connected with the controller through signal lines.
Be fixed with electronic spirit level on the frame, electronic spirit level output sensing signal to controller, the crib passes through on the fixed frame of suspension subassembly, the suspension subassembly is equipped with three electronic jar, every electronic jar becomes the vertical arrangement of triangle-shaped, the cylinder body of electronic jar is fixed on the frame, electronic jar's telescopic rod top is fixed with the spring bottom, the top rigid coupling of spring is in the crib bottom, the controller is connected suspension subassembly and output control signal to suspension subassembly.
A pressure sensor is fixed at the bottom of the baby crib and outputs a sensing signal to the controller.
The following carrying equipment is a bracelet with a vibrator.
The control method based on the automatic following baby carriage comprises the following steps:
when the automatic following function is started, the following sensor and the following carrying equipment are mutually interacted to determine the relative position, and when the distance between the following sensor and the following carrying equipment is larger than a set value, the power assembly, the steering assembly and the braking assembly are driven to move in a matched mode, the baby carriage is driven to automatically walk, and the distance between the following sensor and the following carrying equipment is enabled to be within the set value;
and in the automatic following process, information of the radar module and the camera module is acquired in real time, and surrounding obstacles are avoided.
When the distance between the following carrying equipment and the following inductor is larger than a set value, the following carrying equipment vibrates to set time;
when the numerical value of the pressure sensor in the crib is reduced and exceeds a set value, the time is set along with the vibration of the carrying equipment;
when the speed of the baby carriage exceeds a set value, the baby carriage vibrates with the carrying equipment for setting time;
when the gradient of the position of the baby carriage exceeds a set value, the baby carriage vibrates with the carrying equipment for setting time;
when the electric quantity of the battery unit is lower than a set value, the portable equipment vibrates for a set time;
when the electric level meter senses the inclination of the frame, a control signal is output to the suspension assembly to enable the crib to maintain a horizontal state.
When the reciprocating cruise function is started, the cruise key of the key module needs to be continuously pressed, the controller acquires path information through the camera module while the baby carriage is pushed to walk, and when the cruise key is released, the controller reciprocates according to the acquired path information;
when the baby carriage has an obstacle on the path and the duration time exceeds a set value, the reciprocating cruise function is finished;
when the cruise key is pressed again, the reciprocating cruise function is ended.
The baby carriage structure can liberate both hands, and enables a guardian to be safer when going out with an infant, so that the carriage pushing process is labor-saving and worry-saving.
Drawings
The following is a brief description of the contents of each figure in the description of the present invention:
fig. 1 is a schematic block diagram of an automatic following stroller.
Detailed Description
The following description of the embodiments with reference to the drawings is provided to describe the embodiments of the present invention, and the embodiments of the present invention, such as the shapes and configurations of the components, the mutual positions and connection relationships of the components, the functions and working principles of the components, the manufacturing processes and the operation and use methods, etc., will be further described in detail to help those skilled in the art to more completely, accurately and deeply understand the inventive concept and technical solutions of the present invention.
The invention is directed against the improvement of the existing automatic following vehicle (trunk), apply it on perambulator, the mechanical structure can refer to the appearance design of the traditional perambulator, the difference lies in changing the chassis design of the traditional perambulator, the perambulator is equipped with the frame, there are front wheels and rear wheels in the bottom of the frame, the frame is fixed with the crib, the frame is fixed with the power module which drives the rear wheel to rotate, the power module adopts the conventional electric machine power mechanism, rotate and make the perambulator move forward and backward through the motor drive rear wheel, the motor is generally direct current motor, mount the four-wheel drive mechanical gear in the bottom of the perambulator, drive the rear wheel drive by a motor, such a way benefit lies in controlling simply, the acceleration and deceleration operates fast; the frame is fixed with the subassembly that turns to that drives the front wheel and turn to, for example, still install a high-power steering wheel at the front wheel, be convenient for control perambulator front wheel turn to the manipulation, control perambulator that can be automatic turns to, be fixed with the brake subassembly of parking perambulator on front wheel and the rear wheel, can be when meetting the barrier or the automatic braking of the speed of a motor vehicle at the excessive speed, guarantee perambulator operation safety, brake subassembly, turn to subassembly and brake subassembly and all connect the controller, the controller can adopt the mpu chip development of Enzhipu company, and possess the additional of Openmv camera and hold, no matter from the cost of function, the technique, market or development, all can have very big advantage. Specific image information (such as color, graph and gesture) is acquired by writing python program programming and operating openmv, and the built-in mpu analyzes acquired image data and performs a series of program processing, so that the driving module and the steering module of the baby carriage are controlled, and automatic following of a specific target is completed.
The controller is connected and follows the inductor, follows the inductor and follows the mutual information of carrying equipment and confirm relative position, follows the bracelet that carries equipment preferred to have the electromagnetic shaker, according to sensors such as following inductor and camera on the perambulator real-time feedback speed and distance information, handles the control of realizing accurate safe following through the algorithm.
Be fixed with battery unit on the frame, like the lithium cell, battery unit is all components and parts power supplies, owing to adopt direct current power supply, ordinary large-scale model aeroplane and model ship battery alright in order to satisfy the 3 to 4 hours basic power consumption demands of motor and environmental protection more healthy.
In order to prevent safety accidents of the baby carriage, a protection device is arranged, and once a user forcibly holds the baby carriage or the baby carriage collides with the baby carriage, a motor of the baby carriage is automatically turned off, and the baby carriage can be changed into a hand-push mode. Safety device includes the radar module of fixed response barrier information all around at the perambulator, and acquire the camera subassembly of image information all around, radar module and camera subassembly are all through signal line connection director, can effectively acquire information around the perambulator, and carry out the analysis by the controller, judge the action on next step of perambulator, also can guarantee its automation and follow the security at any time, have certain obstacle avoidance function, be equipped with fast sensor of wheel on the rear wheel, fast sensor of wheel passes through signal line connection director, can monitor real-time speed of a motor vehicle.
Be connected with the handrail on the frame, be fixed with the speaker that is used for sending the prompt tone on the handrail, show the display screen of operating mode information and the button module of control perambulator, speaker, display screen and button module all pass through signal line connection director, and button module can adjust the controller of whole perambulator, adjustment mode and some parameter setting, and parameter information can be shown to the display to cooperation button module is adjusted the controller, and the speaker can report to the police and point out.
The bottom of the crib is fixed with a pressure sensor which outputs a sensing signal to the controller, can sense whether articles or babies exist in the crib and remind in time when the articles or the babies leave,
be fixed with electronic spirit level on the frame, acquire the slope of perambulator position, electronic spirit level output sensing signal to controller, on the crib passes through the fixed frame of suspension subassembly, the suspension subassembly is equipped with three electronic jar, every electronic jar becomes the vertical arrangement of triangle-shaped, and the cylinder body of electronic jar is fixed on the frame, and the telescopic rod top of electronic jar is fixed with the spring bottom, and the top rigid coupling of spring is in the crib bottom, and the controller is connected suspension subassembly and output control signal to suspension subassembly.
The control method based on the automatic following baby carriage comprises the following steps:
when the automatic following function is started, the following sensor and the following carrying equipment are mutually interacted to determine the relative position, and when the distance between the following sensor and the following carrying equipment is larger than a set value, the power assembly, the steering assembly and the braking assembly are driven to move in a matched mode, the baby carriage is driven to automatically walk, and the distance between the following sensor and the following carrying equipment is enabled to be within the set value;
and in the automatic following process, information of the radar module and the camera module is acquired in real time, and surrounding obstacles are avoided.
When the distance between the following carrying equipment and the following inductor is larger than a set value, the following carrying equipment vibrates to set time;
when the numerical value of the pressure sensor in the crib is reduced and exceeds a set value, the time is set along with the vibration of the carrying equipment;
when the speed of the baby carriage exceeds a set value, the baby carriage vibrates with the carrying equipment for setting time;
when the gradient of the position of the baby carriage exceeds a set value, the baby carriage vibrates with the carrying equipment for setting time;
when the electric quantity of the battery unit is lower than a set value, the portable equipment vibrates for a set time;
when the electric level meter senses the inclination of the frame, a control signal is output to the suspension assembly to enable the crib to maintain a horizontal state.
When the reciprocating cruise function is started, the cruise key of the key module needs to be continuously pressed, the controller acquires path information through the camera module while the baby carriage is pushed to walk, and when the cruise key is released, the controller reciprocates according to the acquired path information;
when the baby carriage has an obstacle on the path and the duration time exceeds a set value, the reciprocating cruise function is finished;
when the cruise key is pressed again, the reciprocating cruise function is ended.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (9)
1. The utility model provides an automatic follow perambulator, perambulator are equipped with the frame, the frame bottom is equipped with front wheel and rear wheel, be fixed with crib, its characterized in that on the frame: the baby carriage is characterized in that a power assembly for driving a rear wheel to rotate is fixed on the frame, a steering assembly for driving the front wheel to steer is fixed on the frame, brake assemblies for parking the baby carriage are fixed on the front wheel and the rear wheel, the brake assemblies, the steering assembly and the brake assemblies are all connected with a controller, the controller is connected with a following inductor, the following inductor and a following carrying device mutually exchange information and determine the relative position, a battery unit is fixed on the frame, and the battery unit supplies power for all components.
2. The auto-follow stroller according to claim 1, wherein: the baby carriage is characterized in that radar modules for sensing surrounding obstacle information and camera assemblies for acquiring surrounding image information are fixed on the periphery of the baby carriage, the radar modules and the camera assemblies are connected with a controller through signal lines, a wheel speed sensor is arranged on a rear wheel, and the wheel speed sensor is connected with the controller through the signal lines.
3. The auto-follow stroller according to claim 2, wherein: the baby carriage is characterized in that the frame is connected with a handrail, a loudspeaker for giving prompt tones, a display screen for displaying working condition information and a key module for controlling the baby carriage are fixed on the handrail, and the loudspeaker, the display screen and the key module are all connected with the controller through signal lines.
4. The auto-follow stroller according to claim 1, 2 or 3, wherein: be fixed with electronic spirit level on the frame, electronic spirit level output sensing signal to controller, the crib passes through on the fixed frame of suspension subassembly, the suspension subassembly is equipped with three electronic jar, every electronic jar becomes the vertical arrangement of triangle-shaped, the cylinder body of electronic jar is fixed on the frame, electronic jar's telescopic rod top is fixed with the spring bottom, the top rigid coupling of spring is in the crib bottom, the controller is connected suspension subassembly and output control signal to suspension subassembly.
5. The auto-follow stroller according to claim 4, wherein: a pressure sensor is fixed at the bottom of the baby crib and outputs a sensing signal to the controller.
6. The automatic following stroller according to claim 1 or 5, wherein: the following carrying equipment is a bracelet with a vibrator.
7. The control method of an automatic following stroller according to any one of claims 1 to 6, wherein:
when the automatic following function is started, the following sensor and the following carrying equipment are mutually interacted to determine the relative position, and when the distance between the following sensor and the following carrying equipment is larger than a set value, the power assembly, the steering assembly and the braking assembly are driven to move in a matched mode, the baby carriage is driven to automatically walk, and the distance between the following sensor and the following carrying equipment is enabled to be within the set value;
and in the automatic following process, information of the radar module and the camera module is acquired in real time, and surrounding obstacles are avoided.
8. The control method according to claim 7, characterized in that:
when the distance between the following carrying equipment and the following inductor is larger than a set value, the following carrying equipment vibrates to set time;
when the numerical value of the pressure sensor in the crib is reduced and exceeds a set value, the time is set along with the vibration of the carrying equipment;
when the speed of the baby carriage exceeds a set value, the baby carriage vibrates with the carrying equipment for setting time;
when the gradient of the position of the baby carriage exceeds a set value, the baby carriage vibrates with the carrying equipment for setting time;
when the electric quantity of the battery unit is lower than a set value, the portable equipment vibrates for a set time;
when the electric level meter senses the inclination of the frame, a control signal is output to the suspension assembly to enable the crib to maintain a horizontal state.
9. The control method according to claim 8, characterized in that:
when the reciprocating cruise function is started, the cruise key of the key module needs to be continuously pressed, the controller acquires path information through the camera module while the baby carriage is pushed to walk, and when the cruise key is released, the controller reciprocates according to the acquired path information;
when the baby carriage has an obstacle on the path and the duration time exceeds a set value, the reciprocating cruise function is finished;
when the cruise key is pressed again, the reciprocating cruise function is ended.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011363613.3A CN112506231A (en) | 2020-11-27 | 2020-11-27 | Automatic following baby carriage and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011363613.3A CN112506231A (en) | 2020-11-27 | 2020-11-27 | Automatic following baby carriage and control method thereof |
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| Publication Number | Publication Date |
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| CN112506231A true CN112506231A (en) | 2021-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011363613.3A Pending CN112506231A (en) | 2020-11-27 | 2020-11-27 | Automatic following baby carriage and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113044095A (en) * | 2021-03-31 | 2021-06-29 | 福州大学 | Automatic following baby carriage based on UWB positioning and working method |
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| CN205469230U (en) * | 2016-03-22 | 2016-08-17 | 无锡职业技术学院 | Self -propelled antifog haze perambulator of intelligence |
| CN106672051A (en) * | 2015-11-09 | 2017-05-17 | 广东三泰隆科技有限公司 | Novel foldable baby carriage |
| CN108363340A (en) * | 2018-05-14 | 2018-08-03 | 桂林理工大学 | SCM Based Intelligent baby carriage |
| CN208013780U (en) * | 2018-02-11 | 2018-10-26 | 邓绍茗 | Intelligent baby carriage |
| CN210072071U (en) * | 2019-05-20 | 2020-02-14 | 上海电机学院 | Wheelchair automatic cruise system |
| CN210941232U (en) * | 2019-11-27 | 2020-07-07 | 上海木木聚枞机器人科技有限公司 | Robot with suspension |
| CN111591337A (en) * | 2020-05-03 | 2020-08-28 | 无锡玖秀科技有限公司 | Baby carriage capable of being driven intelligently |
| CN211403242U (en) * | 2020-03-31 | 2020-09-01 | 张军民 | Intelligent monitoring and control system for children's vehicles |
-
2020
- 2020-11-27 CN CN202011363613.3A patent/CN112506231A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672051A (en) * | 2015-11-09 | 2017-05-17 | 广东三泰隆科技有限公司 | Novel foldable baby carriage |
| CN205469230U (en) * | 2016-03-22 | 2016-08-17 | 无锡职业技术学院 | Self -propelled antifog haze perambulator of intelligence |
| CN208013780U (en) * | 2018-02-11 | 2018-10-26 | 邓绍茗 | Intelligent baby carriage |
| CN108363340A (en) * | 2018-05-14 | 2018-08-03 | 桂林理工大学 | SCM Based Intelligent baby carriage |
| CN210072071U (en) * | 2019-05-20 | 2020-02-14 | 上海电机学院 | Wheelchair automatic cruise system |
| CN210941232U (en) * | 2019-11-27 | 2020-07-07 | 上海木木聚枞机器人科技有限公司 | Robot with suspension |
| CN211403242U (en) * | 2020-03-31 | 2020-09-01 | 张军民 | Intelligent monitoring and control system for children's vehicles |
| CN111591337A (en) * | 2020-05-03 | 2020-08-28 | 无锡玖秀科技有限公司 | Baby carriage capable of being driven intelligently |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113044095A (en) * | 2021-03-31 | 2021-06-29 | 福州大学 | Automatic following baby carriage based on UWB positioning and working method |
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Application publication date: 20210316 |